debug multibody collider example

Author: newDINO

examples3d/all_examples3.rs

@@ -45,6 +45,7 @@ mod debug_disabled3;
 mod debug_internal_edges3;
 mod debug_long_chain3;
 mod debug_multibody_ang_motor_pos3;
+mod debug_multibody_collider3;
 mod debug_sleeping_kinematic3;
 mod debug_two_cubes3;
 mod gyroscopic3;
@@ -146,6 +147,10 @@ pub fn main() {
             "(Debug) multibody ang. motor pos.",
             debug_multibody_ang_motor_pos3::init_world,
         ),
+        (
+            "(Debug) multibody collider",
+            debug_multibody_collider3::init_world,
+        ),
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.

examples3d/debug_multibody_collider3.rs

@@ -0,0 +1,47 @@
+use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let mut multibody_joints = MultibodyJointSet::new();
+
+    // Ground
+    {
+        let ground_body = bodies.insert(RigidBodyBuilder::fixed());
+        colliders.insert_with_parent(
+            ColliderBuilder::cuboid(50.0, 0.5, 50.0),
+            ground_body,
+            &mut bodies,
+        );
+
+        let body = bodies.insert(
+            RigidBodyBuilder::dynamic()
+                .translation(Vector::new(0.0, 3.0, 0.0))
+                .angvel(Vector::new(0.0, 1.0, 0.0)),
+        );
+        colliders.insert_with_parent(ColliderBuilder::cuboid(0.5, 0.5, 0.5), body, &mut bodies);
+
+        multibody_joints.insert(
+            ground_body,
+            body,
+            RevoluteJointBuilder::new(UnitVector::new_unchecked(Vector::new(0.0, 1.0, 0.0)))
+                .local_anchor1(Point::new(0.0, 3.0, 0.0)),
+            true,
+        );
+    }
+
+    // Another collider
+    {
+        let body =
+            bodies.insert(RigidBodyBuilder::dynamic().translation(Vector::new(3.0, 3.0, 0.0)));
+        colliders.insert_with_parent(ColliderBuilder::cuboid(0.5, 0.5, 0.5), body, &mut bodies);
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![-30.0, 4.0, -30.0], point![0.0, 1.0, 0.0]);
+}